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Integral Super Twisting Sliding Mode Control (ISTSMC) Application in 1DOF Internal Mass Autonomous Underwater Glider (AUG)

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Intelligent Manufacturing & Mechatronics

Part of the book series: Lecture Notes in Mechanical Engineering ((LNME))

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Abstract

This paper presents the design and implementation of the integral super twisting sliding mode control for the tracking control of a linearized model of longitudinal plane autonomous underwater glider. The performance of the proposed controller is evaluated in terms of chattering reduction in control input for the nominal system as well as the system in the presence of external disturbance. The controller is designed for the gliding path from 45° to 30° downward and upward. The performance of the proposed controller is compared with the quasi sliding mode control (boundary layer), integral sliding control, and super twisting sliding mode control. The simulation results have shown that the proposed controller is able to eliminate the undesired chattering.in control inputs.

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Acknowledgements

This research is supported by Universiti Malaysia Pahang (UMP) research grant Vot: RDU1703134, Development of Controller for an Underactuated Autonomous Underwater Vehicle (AUV).

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Authors and Affiliations

  1. Instrumentation and Control Engineering (ICE) Cluster, Faculty of Electrical and Electronics Engineering, Universiti Malaysia Pahang, 26600, Pekan, Pahang, Malaysia

    Maziyah Mat-Noh & Zainah Md Zain

  2. Underwater, Control Robotics Research Group (UCRG), School of Electrical and Electronic Engineering, Engineering Campus, Universiti Sains Malaysia, 14300, Nibong Tebal, Pulau Pinang, Malaysia

    M. R. Arshad & Rosmiwati Mohd-Mokhtar

Authors
  1. Maziyah Mat-Noh
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  2. M. R. Arshad
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  3. Rosmiwati Mohd-Mokhtar
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  4. Zainah Md Zain
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Corresponding author

Correspondence to Maziyah Mat-Noh .

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Editors and Affiliations

  1. Faculty of Manufacturing Engineering, Universiti Malaysia Pahang, Pekan, Pahang, Malaysia

    Mohd Hasnun Arif Hassan

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Mat-Noh, M., Arshad, M.R., Mohd-Mokhtar, R., Md Zain, Z. (2018). Integral Super Twisting Sliding Mode Control (ISTSMC) Application in 1DOF Internal Mass Autonomous Underwater Glider (AUG). In: Hassan, M. (eds) Intelligent Manufacturing & Mechatronics. Lecture Notes in Mechanical Engineering. Springer, Singapore. https://doi.org/10.1007/978-981-10-8788-2_28

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  • DOI: https://doi.org/10.1007/978-981-10-8788-2_28

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  • Publisher Name: Springer, Singapore

  • Print ISBN: 978-981-10-8787-5

  • Online ISBN: 978-981-10-8788-2

  • eBook Packages: EngineeringEngineering (R0)

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